Wire binding tool and wire binding method

Abstract

The invention discloses a wire binding tool which comprises a rotary clamping mechanism, a telescopic mechanism and a binding mechanism. The rotary clamping mechanism comprises a fixed clamping piece, a rotary clamping piece and a rotary clamping driving assembly; the fixed clamping piece is provided with a main line groove, and the rotary clamping piece is rotationally provided with a lead groove; the rotary clamping driving assembly is connected with the fixed clamping piece and the rotary clamping piece and drives the fixed clamping piece and the rotary clamping piece to rotate. The telescopic mechanism is installed on the rotary clamping piece, and the telescopic execution end of the telescopic mechanism is fixed to the binding mechanism, so that the binding mechanism is close to or away from the lead groove. The binding mechanism can bind the main line and the lead located in the main line groove and the lead groove; the invention further discloses a binding method adopting the wire binding tool. The tool can be used for being matched with a power distribution network hot-line work robot, after lead lap joint is completed, the lead and a wire are folded and bound in the whole process, the work difficulty is lowered, the work efficiency is improved, the tool is high in integrity, and the breaking risk cannot occur.

Description

Technical Field

[0001] The invention relates to the technical field of live-line operation in distribution networks, and in particular to a wire binding tool and a wire binding method. Background Art

[0002] The work content of the live working robot in the distribution network mainly includes the following aspects: autonomous identification of lead wire position: the live working robot uses three-dimensional environment reconstruction and visual recognition technology to autonomously identify the specific position of the lead wire; grasping the lead wire: the arm of the live working robot is equipped with an end-effector tool, which can grasp the lead wire and perform operations such as wire stripping, threading and wiring; completing live lead wire connection operations: the live working robot can automatically complete live lead wire connection operations, including stripping the insulation layer, replacing the gripper module, inserting the lead positioning clamp and other steps; testing electricity, stripping wires, overlapping leads and breaking leads: the live working robot can replace manual work to complete fine operations such as testing electricity, stripping wires, overlapping leads and breaking leads.

[0003] In coastal areas and other areas with relatively high wind speeds, after the lead wires are spliced ​​using a live working robot, it is still necessary to tie the leads and conductors near the connection point to reduce the risk of damage to wire clamps and terminal heads caused by lead wire shaking.

[0004] At present, the live-line operation robot process of the distribution network is only equipped with the stripping tools and wiring tools required for the lead-in connection. The live-line operation robot cannot perform the wire binding operation. The operator needs to stand in the working bucket of the insulation vehicle, and the operator is sent to the high altitude, and then the operator uses the tools to complete this kind of live-line operation. The existing problems mainly include: There is a high risk of workers directly contacting live wires at heights. Workers are required to take good insulation protection in all aspects of the operation, which consumes a lot of working time. In addition, the operating procedures are complicated. In addition, it is difficult for workers working at heights to observe the working position when binding the wires, and they cannot accurately observe the clamping status of the tools, resulting in high intensity and difficulty in the work. In addition, due to the randomness of the distance between the main line and the lead wire, a clamping stroke of about 200mm is required. This large stroke causes the overall height of the working tools carried by the live working robot to be too high, and the center of gravity is too high during the movement of the robotic arm. There is a risk of breaking the tool and falling from a height. Frequent protection is required during the operation process, affecting work efficiency. Summary of the invention

[0005] Purpose of the invention: In order to overcome the shortcomings of the background technology, the present invention: The first purpose is to provide a wire binding tool; The second purpose is to provide a wire binding method using the above-mentioned wire binding tool, which can reduce the difficulty of binding wires during live operations in the distribution network and improve the operating efficiency.

[0006] Technical solution: The wire binding tool disclosed in the present invention comprises a rotating clamping mechanism, a telescopic mechanism and a binding mechanism; The rotary clamping mechanism comprises a fixed clamping member, a rotary clamping member and a rotary clamping driving assembly; the fixed clamping member is provided with a main line groove, the rotary clamping member is rotatably mounted on the fixed clamping member and is provided with a lead wire groove; the rotary clamping driving assembly connects the fixed clamping member and the rotary clamping member and drives them to rotate, so that the main line groove and the lead wire groove notch are relatively close to or far away from each other; The telescopic mechanism is mounted on the rotating clamping member, and its telescopic execution end is fixed to the binding mechanism, so that the binding mechanism is close to or away from the lead groove; The binding mechanism can bind the main wire and the lead wire located in the main wire groove and the lead wire groove.

[0007] Furthermore, the rotating clamping mechanism also includes a quick-connect device for quickly connecting to the arm of the live working robot, and the quick-connect device is fixedly connected to the fixed clamping member.

[0008] Furthermore, the rotary clamping mechanism further comprises a main frame, and the rotary clamping drive assembly comprises a rotating shaft and a rotating shaft drive assembly; The fixed clamp is fixed to the main frame, and the main line groove is arranged on one side surface of the fixed clamp; the rotating clamp is fixed to the rotating shaft, and the lead wire groove is arranged on one side surface of the rotating clamp; the rotating shaft is installed on the fixed clamp through a bearing, and the rotating shaft driving assembly is installed on the main frame and connected to the rotating shaft, driving the rotating shaft to rotate, thereby realizing the rotation of the rotating clamp.

[0009] Further, the shaft drive assembly includes a worm gear, a worm and a rotary motor; The main frame is provided with a drive assembly mounting seat and a motor mounting seat; The worm gear sleeve is fixed to the rotating shaft; the worm is meshed with the worm wheel, and both ends are installed on the driving component mounting seat through bearings; the rotating motor is fixed to the motor mounting seat and the output shaft is connected to the worm, which can drive the worm to rotate and drive the rotating shaft to rotate through the worm gear transmission.

[0010] Furthermore, a clamping camera is installed on the fixed clamping member, and the camera range of the camera of the clamping camera includes the main line groove; And / or, the tying mechanism is equipped with a tying camera for observing the tying process of the tying mechanism on the main line and the lead line; And / or, the fixing clamp is provided with a guiding slope on the entrance side of the main line groove.

[0011] Furthermore, a first stop gasket is provided in the top area of ​​the main line groove, which can frictionally cooperate with the main line after the main line enters the main line groove, and a second stop gasket is provided on the side of the fixed clamp, which can frictionally cooperate with the rotating clamp when the rotating clamp is reset.

[0012] Furthermore, a reset detection chip is provided on the rotating clamping member, and a photoelectric switch is provided on the side of the fixed clamping member, and the photoelectric switch is electrically connected or signal-connected to a control switch of the rotating clamping drive assembly; The photoelectric switch detects the reset detection chip when the rotary clamping member is reset, and sends a signal to the control switch of the rotary clamping drive component to control the rotary clamping drive component to stop running.

[0013] Furthermore, the binding mechanism includes a body fixedly connected to the execution end of the telescopic mechanism, and a wire outlet assembly, a wire binding assembly, a wire cutting knife and a binding mechanism driving assembly connected to the body; A left fork and a right fork are provided at one end of the machine body, and a wire groove is formed between the left fork and the right fork; a fixed knife holder is provided on the left fork, a wire cutting knife is hinged on the fixed knife holder, a wire running channel is provided inside the fixed knife holder, an arc-shaped forming outlet is provided at one end of the fixed knife holder away from the machine body, a wire bending channel connected to the wire running channel is provided inside the forming outlet, a through hole is provided on the right fork, and the wire bending channel, the through hole and the wire groove together form a wire winding space; The wire outlet assembly comprises a wire storage device arranged on the machine body and a feeding wheel arranged between the wire storage device and the forming outlet nozzle; The wire tying assembly comprises a wire tying shaft and a wire tying claw fixedly mounted on one end of the wire tying shaft, wherein the wire tying claw is located inside the wire winding space; The blade of the wire cutter faces the wire outlet of the wire bending channel, a toggle head is provided on one side of the wire cutter, and a return spring is provided between the wire cutter and the fixed knife holder or the left fork, and the return spring makes the wire cutter always have a movement tendency of the blade away from the wire outlet of the wire bending channel; The lashing mechanism driving assembly comprises a lashing motor, a first gear, a second gear, a first bevel gear, a second bevel gear, a cam and a one-way bearing; The binding motor is fixed to the machine body, the first gear is mounted on and fixed to the output shaft of the binding motor, the second gear is mounted on and fixed to the wire binding shaft through a one-way bearing, the first bevel gear is mounted on the wire binding shaft and the first bevel gear and the second gear are fixed together, the second bevel gear is coaxially connected to the feeding wheel, the first bevel gear is meshed with the second bevel gear, and the first gear is meshed with the second gear; the cam is mounted on and fixedly connected to the wire binding shaft, and the cam abuts against a toggle head provided on one side of the wire cutter.

[0014] Correspondingly, the wire binding method disclosed in the present invention uses the above-mentioned wire binding tool, including: The first step is to drive the arm of the live working robot with the wire binding tool to approach the main line as a whole, and the arm of the live working robot drives the fixed clamp to move to the main line and enter the main line groove; confirm that the binding mechanism is away from the lead wire groove; the rotating clamp driving assembly drives the rotating clamp to rotate forward relative to the fixed clamp to allow the lead wire to enter the lead wire groove; In the second step, the rotary clamping drive assembly drives the rotary clamping member to continue to rotate forward relative to the fixed clamping member to bring the main line and the lead line together; In the third step, the telescopic mechanism drives the binding mechanism to approach the main line and the lead wire; Step 4: The tying mechanism ties the main line and the lead line and cuts off the tying wire after the tying is completed; In the fifth step, the telescopic mechanism drives the binding mechanism away from the main line and the lead line, and then the rotary clamping drive assembly drives the rotary clamping member to reset.

[0015] Furthermore, the binding mechanism includes a body fixedly connected to the execution end of the telescopic mechanism, and a wire outlet assembly, a wire binding assembly, a wire cutting knife and a binding mechanism driving assembly connected to the body; A left fork and a right fork are provided at one end of the machine body, and a wire groove is formed between the left fork and the right fork; a fixed knife holder is provided on the left fork, a wire cutting knife is hinged on the fixed knife holder, a wire running channel is provided inside the fixed knife holder, an arc-shaped forming outlet is provided at one end of the fixed knife holder away from the machine body, a wire bending channel connected to the wire running channel is provided inside the forming outlet, a through hole is provided on the right fork, and the wire bending channel, the through hole and the wire groove together form a wire winding space; The wire outlet assembly comprises a wire storage device arranged on the machine body and a feeding wheel arranged between the wire storage device and the forming outlet nozzle; The wire tying assembly comprises a wire tying shaft and a wire tying claw fixedly mounted on one end of the wire tying shaft, wherein the wire tying claw is located inside the wire winding space; The blade of the wire cutter faces the wire outlet of the wire bending channel, a toggle head is provided on one side of the wire cutter, and a return spring is provided between the wire cutter and the fixed knife holder or the left fork, and the return spring makes the wire cutter always have a movement tendency of the blade away from the wire outlet of the wire bending channel; The lashing mechanism driving assembly comprises a lashing motor, a first gear, a second gear, a first bevel gear, a second bevel gear, a cam and a one-way bearing; The tying motor is fixed to the machine body, the first gear is fitted on and fixed to the output shaft of the tying motor, the second gear is fitted on and fixed to the wire tying shaft through a one-way bearing, the first bevel gear is fitted on the wire tying shaft and the first bevel gear and the second gear are fixed together, the second bevel gear is coaxially connected to the feeding wheel, the first bevel gear is meshed with the second bevel gear, and the first gear is meshed with the second gear; the cam is fitted on and fixedly connected to the wire tying shaft, and the cam abuts against a toggle head provided on one side of the wire cutter; The fourth step of the wire binding method comprises: Control the binding motor to reverse, and drive the first gear, the second gear, the first bevel gear, the second bevel gear, and the feeding wheel to rotate in sequence, so as to send the binding wire in the wire storage device out of the wire outlet of the wire bending channel along the wire walking channel and wind it in the wire winding space for at least one circle; Then, the binding motor is controlled to rotate forward, and the first gear, the second gear, the one-way bearing, the wire binding shaft, and the cam are driven to rotate in sequence, so that the wire binding claw binds the binding wire ring in the wire winding space and the wire cutter cuts the binding wire from the wire outlet of the wire bending channel.

[0016] Beneficial effect: Compared with the prior art, the advantages of the present invention are: it can be used to cooperate with the live working robot of the distribution network, and after the lead wires are overlapped, the whole process of closing and binding the leads and conductors can be carried out near the connection point, which reduces the difficulty of operation and improves the operation efficiency; the tool has strong integrity and will not have the risk of breakage. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the overall structure of the wire binding tool provided by an embodiment of the present invention in the initial and reset states; Figure 2 This is a schematic diagram of the first working step of the wire binding tool in an embodiment of the present invention; Figure 3 This is a schematic diagram of the second working step of the wire binding tool in an embodiment of the present invention; Figure 4 This is a schematic diagram of the third working step of the wire binding tool in an embodiment of the present invention; Figure 5 The fourth step of the wire binding tool according to the present invention is shown in FIG. Figure 1 ; Figure 6 The fourth step of the wire binding tool according to the present invention is shown in FIG. Figure 2 ; Figure 7 This is a schematic diagram of the fifth working step of the wire binding tool in an embodiment of the present invention; Figure 8 This is a schematic diagram of the sixth working step of the wire binding tool in an embodiment of the present invention; Fig. 9 The overall structure of the rotary clamping mechanism in the wire binding tool in the embodiment of the present invention is shown in FIG. Figure 1 ; Fig.10 The overall structure of the rotary clamping mechanism in the wire binding tool in the embodiment of the present invention is shown in FIG. Figure 2 ; Fig.11 It is a cross-sectional view of the overall structure of the rotary clamping mechanism in the wire binding tool in the embodiment of the present invention; Fig.12 The overall structure of the binding mechanism in the wire binding tool in the embodiment of the present invention is shown in FIG. Figure 1 ; Fig.13 The overall structure of the binding mechanism in the wire binding tool in the embodiment of the present invention is shown in FIG. Figure 2 ; Fig.14 It is a schematic diagram of the overall structure of the telescopic mechanism in the wire binding tool in an embodiment of the present invention; Fig.15 Schematic diagram of the connection structure between the telescopic mechanism and the binding mechanism in the wire binding tool in an embodiment of the present invention (the housing of the telescopic mechanism is in a hidden state in the structure shown); Fig.16 Schematic diagram of the connection structure of the telescopic mechanism, the binding mechanism, and the rotating clamp in the wire binding tool in an embodiment of the present invention (the housing of the telescopic mechanism is in a hidden state in the structure shown).

[0018] Icon: L 1- Main line: L 2 -lead; 100-rotating clamping mechanism; 11-fixed clamping member; 110-main line groove; 111-guide ramp; 112-clamping camera; 113-first stop gasket; 114-second stop gasket; 115-photoelectric switch; 12-rotating clamping member; 120-lead groove; 1201-fixing hole; 121-reset detection chip; 13-tool connecting column; 14-quick connection device; 15-main frame; 151-drive component mounting seat; 152-motor mounting seat; 16-rotating shaft; 171-worm gear; 172-worm; 173-rotating motor; 174-control switch; 175-unlocking ring; 200- telescopic mechanism; 2- housing; 21- guide rail; 22- electric push rod; 221- support plate; 23- guide rail connecting plate; 300-binding mechanism; 3-machine body; 30-wire trough; 301-cable routing port; 302-light-transmitting plate; 303-adjusting button; 31-binding wire; 310-wire winding space; 311-left fork; 312-right fork; 3120-through hole; 32-cutter; 321-fixed knife holder; 331-forming outlet nozzle; 332-wire threading guide; 34-wire storage device; 35-feeding wheel; 36-wire tying shaft; 361-wire tying claw; 371-binding motor; 3711-detection shaft; 372-first gear; 373-second gear; 374-first bevel gear; 375-second bevel gear; 376-cam; 8-wire tying shaft speed detection chip; 39-binding camera. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] It should be noted that like reference numerals and letters denote similar items in the drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0022] In the description of the present invention, it should be noted that: Unless otherwise clearly specified and limited, the terms "set", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] The terms “first”, “second”, etc. are only used for distinguishing descriptions and do not indicate the total number or relative position in time and / or space, and cannot be understood as indicating or implying relative importance.

[0024] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and the optional embodiments in the embodiments can be combined with each other.

[0025] The present embodiment provides a wire binding tool and a wire binding method, which are used to cooperate with a live working robot in a distribution network. After the lead wires are overlapped, the whole process of bringing the leads and wires together and binding them is performed near the connection point, thereby reducing the difficulty of the operation and improving the operation efficiency. The tool has strong integrity and will not have the risk of breakage.

[0026] Specifically, refer to Figures 1 to 16 The wire binding tool includes a rotating clamping mechanism 100, a telescopic mechanism 200 and a binding mechanism 300. Specifically, the rotating clamping mechanism 100 includes a fixed clamping member 11, a rotating clamping member 12 and a rotating clamping driving assembly; the fixed clamping member 11 is provided with a main line groove 110, and the rotating clamping member 12 is provided with a lead wire groove 120; the rotating clamping member 12 is rotatably mounted on the fixed clamping member 11; the rotating clamping driving assembly is connected to the fixed clamping member 11 and the rotating clamping member 12, and is used to drive the rotating clamping member 12 to rotate forward or reverse relative to the fixed clamping member 11, so that the main line groove 110 and the lead wire groove 120 face each other and approach each other during forward rotation, and the lead wire groove 120 and the main line groove 110 are away from each other during reverse rotation. The driving end of the telescopic mechanism 200 is installed on the rotating clamping member 12, and the binding mechanism 300 is installed on the execution end of the telescopic mechanism 200.

[0027] Before working, the fixed clamp 11 is installed on the arm of the live working robot. The installation method includes but is not limited to using the locking structure of the arm execution end of the live working robot to lock the fixed clamp 11 on the arm of the live working robot. In order to achieve quick installation, it is preferably but not limited to, Figure 1 As shown, the rotating clamping mechanism 100 also includes a quick-connect device 14 for quickly connecting to the arm of the live working robot. The quick-connect device 14 is directly or indirectly fixedly connected to the fixed clamping member 11. For example, the rotating clamping mechanism 100 also includes a main frame 15. The fixed clamping member 11 is fixed to the main frame 15. The aforementioned quick-connect device 14 is fixed or connected to the main frame 15 through a tool connecting column 13.

[0028] Specific work wire binding method steps reference Figures 2 to 8 , when working: The first step, reference Figure 2 and Figure 3 The arm of the live working robot with the above-mentioned wire binding tool approaches the main line L 1 The live working robot arm drives the fixed clamp 11 to move to the main line L 1Enter the main line groove 110; confirm that the binding mechanism 300 is away from the lead groove 120. If it is close, adjust the binding mechanism 300 through the telescopic mechanism 200 until the binding mechanism 300 is away from the lead groove 120; the rotating clamping drive assembly drives the rotating clamping member 12 to rotate forward relative to the fixed clamping member 11 so that the lead L 2 Enter the lead groove 120; the second step, refer to Figure 4 The rotating clamping drive assembly drives the rotating clamping member 12 to continue to rotate forward relative to the fixed clamping member 11 to close the main line L 1 and lead L 2 ;reference Figure 5 and Figure 6 In the third step, the telescopic mechanism 200 drives the lashing mechanism 300 to approach the main line L 1 and lead L 2 ; Step 4, the tying mechanism 300 ties the main line L 1 and lead L 2 After the tying is completed, the tying wire 31 is cut off; finally, refer to Figure 7 and Figure 8 , the telescopic mechanism 200 drives the lashing mechanism 300 away from the main line L 1 and lead L 2 Then, the rotary clamping drive assembly drives the rotary clamping member 12 to reset. After the rotary clamping member 12 is reset, if the telescopic mechanism 200 has not reset, the telescopic mechanism 200 can further drive the tying mechanism 300 to reset (for the convenience of storage and adjustment before work, it is preferred that the tying mechanism 300 is in a position away from the lead groove 120 in the initial state, and the telescopic mechanism 200 is used to adjust the position during work, so as to reduce the overall size of the tool in the initial state). The live working robot arm carries the above-mentioned wire tying tool as a whole away from the main line L 1 and L 2 .

[0029] In the wire binding tool provided in this embodiment, there are multiple optional implementations for the specific structure of the telescopic mechanism 200, including but not limited to: Fig.14 As shown, it includes a housing 2, a guide rail 21 and an electric push rod 22 fixed inside the housing 2, a support plate 221 fixed to the execution end of the electric push rod 22, and a guide rail connecting plate 23 connected to the guide rail 21. Figures 14 to 16, a fixing hole 1201 is provided on the rotating clamp 12 so that the rotating clamp 12 is fixedly connected to the support plate 221, so as to realize the connection between the telescopic mechanism 200 and the rotating clamp 12, and the guide rail connecting plate 23 is fixedly connected to the body 3 of the binding mechanism 300, so as to realize the fixed connection between the telescopic mechanism 200 and the binding mechanism 300. Therefore, when the rotating clamp 12 rotates, the telescopic mechanism 200 and the binding mechanism 300 rotate accordingly, and when the electric push rod 22 moves, it will lead the binding mechanism 300 to telescope relative to the rotating clamp 12. Of course, the telescopic mechanism 200 can also be other structural forms, such as but not limited to the combination structure of the telescopic cylinder, the guide rail, the guide rail connecting member and the shell, and its connection relationship with the rotating clamp 12 and the binding mechanism 300 can be obtained by referring to the corresponding replacement of the above structure.

[0030] For a more specific structure of the rotating clamping mechanism 100, in the wire binding tool provided in this embodiment, in order to improve the overall structural strength of the rotating clamping mechanism 100, preferably, refer to Figures 9 to 11 , so that the rotating clamping mechanism 100 also includes a main frame 15, and the fixed clamping member 11 is fixed to the main frame 15; a shell can also be provided outside the fixed clamping member 11, and the main line groove 110 is provided on one side surface of the fixed clamping member 11 and exposed outside its shell. The rotating clamping drive assembly includes a rotating shaft 16 and a rotating shaft drive assembly; the rotating clamping member 12 is fixedly installed on the rotating shaft 16, and the lead wire groove 120 is provided on one side surface of the rotating clamping member 12; both ends of the rotating shaft 16 are rotatably installed on the fixed clamping member 11 through bearings, and, preferably but not limited to, the rotating shaft 16 is configured as follows Fig.11 The shoulder of the stepped shaft shown in the figure abuts against the bearing installed on the fixed clamp 11 to avoid movement and increase transmission efficiency; the shaft drive assembly is installed on the main frame 15 and is connected to the shaft 16 in transmission. The shaft drive assembly can drive the shaft 16 to rotate to drive the rotating clamp 12 to rotate forward or reverse relative to the fixed clamp 11.

[0031] Further optionally, the above-mentioned rotating shaft driving assembly includes a worm wheel 171, a worm 172 and a rotating motor 173; the main frame 15 is provided with a driving assembly mounting seat 151 and a motor mounting seat 152; the worm wheel 171 is sleeved and fixedly connected to the rotating shaft 16; both ends of the worm 172 are mounted on the driving assembly mounting seat 151 through bearings, and the worm 172 is meshed with the worm wheel 171; the rotating motor 173 is fixed to the motor mounting seat 152 and the output shaft of the rotating motor 173 is connected to the worm 172, and the rotating motor 173 can drive the worm 172 to rotate, and drive the rotating shaft 16 to rotate through the worm wheel 171. A control switch 174 of the rotating motor 173 is correspondingly provided on the main frame 15 to control the start and stop of the rotating motor 173; an unlocking ring 175 can be provided at one end of the worm 172 to adjust or compensate for the side clearance between the worm wheel 171 and the worm 172 to ensure the accuracy of transmission and reduce wear.

[0032] In addition, in the rotating clamping mechanism 100, optionally and preferably, a clamping camera 112 is installed on the fixed clamping member 11, and the camera range of the camera of the clamping camera 112 includes the main line groove 110, so as to observe the main line L 1 The real-time operation status of the main line groove 110 is provided for the operator and the live working robot to adjust the operation position and angle of the robot arm in time; in addition, optionally and preferably, a guide slope 111 is provided on the entrance side of the fixed clamp 11 located at the main line groove 110 so that the main line L 1 Easier entry into the main line groove 110.

[0033] Optionally and preferably, a groove top area of ​​the main line groove 110 of the fixing clamp 11 is provided to be able to 1 After entering the main line groove 110, the main line L 1 The first stop washer 113 is friction-fitted to avoid the main line L 1 After entering the main line groove 110, it slides out of the space in the groove to improve the limiting reliability; a second stop gasket 114 is provided on the side of the fixed clamp 11, which can frictionally cooperate with the rotating clamp 12 when the rotating clamp 12 is reset, so as to perform "soft limiting" on the friction cooperation of the rotating clamp 12 after the rotating clamp 12 is reset, and reliably lock the rotating clamp 12 in the current position after the reset, so as to avoid accidental rotation of the rotating clamp 12 when the tool is moved, thereby improving the operating reliability of the tool.

[0034] In addition, in the rotating clamping mechanism 100, preferably, a reset detection chip 121 is provided on the rotating clamping member 12, and a photoelectric switch 115 is provided on the side of the fixed clamping member 11, and the photoelectric switch 115 is electrically connected or signal-connected with the control switch 174 of the rotating clamping drive component; the photoelectric switch 115 detects the reset detection chip 121 when the rotating clamping member 12 is reset, and sends a signal to the control switch 174 of the rotating clamping drive component to control the rotating clamping drive component to stop running.

[0035] There are many optional structural forms for the specific structure of the binding mechanism 300. In this embodiment, it is more preferred but not limited to refer to Fig.12 , Fig.13 , Fig.15 and Fig.16 The binding mechanism 300 includes a body 3 fixedly connected to the execution end of the telescopic mechanism 200, and a wire outlet assembly, a wire binding assembly, a wire cutter 32 and a binding mechanism driving assembly connected to the body 3; the body 3 is provided with a wire groove 30; when working, the telescopic mechanism 200 drives the binding mechanism 300 to extend so that the main line L 1 and lead L 2 Enter the wire groove 30, then the binding mechanism driving assembly drives the wire output assembly, the wire binding assembly and the wire cutting knife 32 to bind the main wire L in sequence. 1 and lead L 2 After the binding is completed, the binding wire 31 is cut off. In this structure, the wire groove 30 can complete the binding operation more accurately and quickly.

[0036] More specifically, a left fork 311 and a right fork 312 are provided at one end of the machine body 3, and a wire groove 30 is formed between the left fork 311 and the right fork 312; a fixed knife holder 321 is provided on the left fork 311, a wire cutter 32 is hinged on the fixed knife holder 321, a wire passage is provided inside the fixed knife holder 321, an arc-shaped forming nozzle 331 is provided at one end of the fixed knife holder 321 away from the machine body 3, a wire bending passage connected to the wire passage is provided inside the forming nozzle 331, a through hole 3120 is provided on the right fork 312, and the wire bending passage, the through hole 3120 and the wire groove 30 together form a wire winding space 310. The wire outlet assembly includes a wire storage 34 provided on the machine body 3 and a feeding wheel 35 provided between the wire storage 34 and the forming nozzle 331. The wire tying assembly includes a wire tying shaft 36 and a wire tying claw 361 fixedly mounted on one end of the wire tying shaft 36, and the wire tying claw 361 is located inside the wire winding space 310. The blade of the wire cutter 32 faces the wire outlet of the wire bending channel, and a toggle head is provided on one side of the wire cutter 32. A return spring is provided between the wire cutter 32 and the fixed blade holder 321 or the left fork 311, and the return spring makes the wire cutter 32 always have a movement tendency of the blade away from the wire outlet of the wire bending channel.

[0037] The binding mechanism driving assembly includes a binding motor 371, a first gear 372, a second gear 373, a first bevel gear 374, a second bevel gear 375, a cam 376 and a one-way bearing; the binding motor 371 is fixed to the body 3, the first gear 372 is mounted on and fixed to the output shaft of the binding motor 371, the second gear 373 is mounted on and fixed to the wire binding shaft 36 through a one-way bearing, the first bevel gear 374 is mounted on the wire binding shaft 36 and the first bevel gear 374 and the second gear 373 are fixed together, the second bevel gear 375 is coaxially connected to the feeding wheel 35, the first bevel gear 374 is meshed with the second bevel gear 375, and the first gear 372 is meshed with the second gear 373; the cam 376 is mounted on and fixedly connected to the wire binding shaft 36, and the cam 376 abuts against the toggle head provided on one side of the wire cutter 32.

[0038] In the specific work, the fourth step of the wire binding method is that the binding mechanism 300 binds the main line L 1 and lead L 2 And cutting the binding wire 31 after the binding is completed specifically includes: controlling the binding motor 371 to reverse, and driving the first gear 372, the second gear 373, the first bevel gear 374, the second bevel gear 375, and the feeding wheel 35 to rotate in sequence (because the second gear 373 is fixed to the wire binding shaft 36 through a one-way bearing set, at this time, the wire binding shaft 36 does not rotate), and then sending the binding wire 31 in the wire storage device 34 along the wire feeding channel out of the wire outlet of the wire bending channel and winding it in the wire winding space 310 for at least one circle; then, controlling the binding motor 371 to rotate forward, and driving the first gear 372, the second gear 373, the one-way bearing, the wire binding shaft 36, and the cam 376 to rotate in sequence, so that the wire claw 361 binds the binding wire ring in the wire winding space 310 and enables the wire cutter 32 to cut the binding wire 31 from the wire outlet of the wire bending channel.

[0039] Preferably, a device for observing the binding mechanism 300 on the main line L is installed on the binding mechanism 300. 1 and lead L 2 The binding camera 39 during the binding process is used to determine whether the wire (main line L) is successfully bound through the real-time image transmitted by the binding camera 39 on the tablet. 1 and lead L 2 ), proceed to the next step of operation. This process can reduce the difficulty of operation for operators, and there is no need for operators to enter the bucket arm truck to observe the tool winding situation, thereby reducing operation risks.

[0040] In addition, the specific structure of the binding mechanism 300 may further include the following settings: like Fig.12As shown, a wire threading guide 332 is provided in the wire feeding channel between the wire storage device 34 and the feeding wheel 35 inside the machine body 3, and a cable routing port 301, a light-transmitting plate 302 and an adjusting button 303 are provided on the shell of the machine body 3; the cable routing port 301 is used for routing the cable connected to the binding camera 39 and the binding motor 371, the light-transmitting plate 302 is arranged at a position where the wire threading guide 332 can be observed, and the adjusting button 303 is used for contacting the binding wire 31 passing through the wire threading guide 332, and the wire storage device 34 preferably uses a spool structure of a binding wire roll on a reel. After replacing a new binding wire roll, the wire end of the binding wire roll is passed through the wire threading guide 332, and the wire end is pressed by the adjusting button 303 to transfer the wire end to the feeding wheel 35, thereby completing the work of replacing the spool.

[0041] In addition, preferably, the output shaft of the binding motor 371 is used as the detection shaft 3711, and a wire binding shaft speed detection chip 8 is also provided on the body 3. The number of rotations of the detection shaft 3711 is detected by the wire binding shaft speed detection chip 8, and a signal is sent to the binding motor 371 to stop winding the binding wire 31 when the preset number of rotations is reached, thereby adjusting the tightness of the wire twisting. This setting can improve the success rate of wire twisting and avoid the situation where the wire claw 361 breaks the binding wire 31 due to the use of a single tightening number of circles for different line types.

[0042] Finally, it should be noted that: 1. The parts related to the control program used in the embodiments of this specification are conventional technical means and will not be described in detail in this application; 2. The above embodiments and optional implementation modes in this specification are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above optional implementation modes, or replace part or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention. In addition, it is emphasized again that the features of the embodiments in this specification and the optional implementation modes in the embodiments can be combined with each other without conflict.

Claims

1. A wire binding tool, characterized in that: It comprises a rotating clamping mechanism (100), a telescopic mechanism (200) and a binding mechanism (300); The rotary clamping mechanism (100) comprises a fixed clamping member (11), a rotary clamping member (12) and a rotary clamping drive assembly; the fixed clamping member (11) is provided with a main line groove (110), the rotary clamping member (12) is rotatably mounted on the fixed clamping member (11) and is provided with a lead wire groove (120); the rotary clamping drive assembly connects the fixed clamping member (11) and the rotary clamping member (12) and drives them to rotate, so that the main line groove (110) and the lead wire groove (120) are relatively close to or far away from each other; The telescopic mechanism (200) is mounted on the rotating clamp (12), and its telescopic execution end is fixed to the binding mechanism (300), so that the binding mechanism (300) is close to or away from the lead groove; The binding mechanism (300) can bind the main line (L1) and the lead line (L2) located in the main line groove (110) and the lead line groove (120).

2. The wire binding tool according to claim 1, characterized in that: The rotary clamping mechanism (100) further comprises a quick-connect device (14) for quickly connecting to an arm of the live-working robot, wherein the quick-connect device (14) is fixedly connected to the fixed clamping member (11).

3. The wire binding tool according to claim 1 or 2, characterized in that: The rotary clamping mechanism (100) further comprises a main frame (15), and the rotary clamping drive assembly comprises a rotating shaft (16) and a rotating shaft drive assembly; The fixed clamp (11) is fixed to the main frame (15), and the main line groove (110) is provided on a side surface of the fixed clamp (11); the rotating clamp (12) is fixed to the rotating shaft (16), and the lead wire groove (120) is provided on a side surface of the rotating clamp (12); the rotating shaft (16) is mounted on the fixed clamp (11) via a bearing, and the rotating shaft driving assembly is mounted on the main frame (15) and connected to the rotating shaft (16), driving the rotating shaft (16) to rotate, thereby realizing the rotation of the rotating clamp (12).

4. The wire binding tool according to claim 3, characterized in that: The rotating shaft driving assembly comprises a worm wheel (171), a worm (172) and a rotating motor (173); The main frame (15) is provided with a drive assembly mounting seat (151) and a motor mounting seat (152); The worm wheel (171) is sleeved and fixed on the rotating shaft (16); the worm (172) is meshed with the worm wheel (171), and both ends are mounted on the driving component mounting seat (151) through bearings; the rotating motor (173) is fixed to the motor mounting seat (152) and the output shaft is connected to the worm (172), and can drive the worm (172) to rotate, thereby driving the rotating shaft (16) to rotate through the worm wheel (171).

5. The wire binding tool according to claim 1 or 2, characterized in that: A clamping camera (112) is mounted on the fixed clamping member (11), and the camera range of the camera head of the clamping camera (112) includes the main line groove (110); And / or, the tying mechanism (300) is equipped with a tying camera (39) for observing the tying mechanism (300) tying the main line (L1) and the lead line (L2); And / or, the fixed clamping member (11) is provided with a guiding inclined surface (111) at the entrance side of the main line groove (110).

6. The wire binding tool according to claim 1 or 2, characterized in that: A first stop washer (113) is provided in the top region of the main line groove (110) and is capable of frictionally cooperating with the main line (L1) after the main line (L1) enters the main line groove (110), and a second stop washer (114) is provided on the side of the fixed clamp (11) and is capable of frictionally cooperating with the rotating clamp (12) when the rotating clamp (12) is reset.

7. The wire binding tool according to claim 1 or 2, characterized in that: The rotating clamping member (12) is provided with a reset detection chip (121), and a photoelectric switch (115) is provided on the side of the fixed clamping member (11), and the photoelectric switch (115) is electrically connected or signal-connected to a control switch (174) of a rotating clamping drive assembly; The photoelectric switch (115) detects the reset detection chip (121) when the rotary clamping member (12) is reset, and sends a signal to the control switch (174) of the rotary clamping drive component to control the rotary clamping drive component to stop running.

8. The wire binding tool according to claim 1 or 2, characterized in that: The binding mechanism (300) comprises a body (3) fixedly connected to the execution end of the telescopic mechanism (200), and a wire outlet assembly, a wire binding assembly, a wire cutting knife (32) and a binding mechanism driving assembly connected to the body (3); A left fork (311) and a right fork (312) are provided at one end of the machine body (3), and a wire groove (30) is formed between the left fork (311) and the right fork (312); a fixed knife holder (321) is provided on the left fork (311), a wire cutter (32) is hingedly connected to the fixed knife holder (321), a wire running channel is provided inside the fixed knife holder (321), an arc-shaped forming outlet (331) is provided at one end of the fixed knife holder (321) away from the machine body (3), a wire bending channel connected to the wire running channel is provided inside the forming outlet (331), a through hole (3120) is provided on the right fork (312), and the wire bending channel, the through hole (3120) and the wire groove (30) together form a wire winding space (310); The wire outlet assembly comprises a wire storage device (34) arranged on the machine body (3) and a feeding wheel (35) arranged between the wire storage device (34) and the forming outlet nozzle (331); The wire tying assembly comprises a wire tying shaft (36) and a wire tying claw (361) fixedly mounted on one end of the wire tying shaft (36), wherein the wire tying claw (361) is located inside the wire winding space (310); The blade of the wire cutter (32) faces the wire outlet of the wire bending channel, a toggle head is provided on one side of the wire cutter (32), and a return spring is provided between the wire cutter (32) and the fixed blade holder (321) or the left fork (311), the return spring causing the wire cutter (32) to always have a movement tendency of the blade away from the wire outlet of the wire bending channel; The lashing mechanism driving assembly comprises a lashing motor (371), a first gear (372), a second gear (373), a first bevel gear (374), a second bevel gear (375), a cam (376) and a one-way bearing; The binding motor (371) is fixed to the machine body (3); the first gear (372) is mounted on and fixed to the output shaft of the binding motor (371); the second gear (373) is mounted on and fixed to the wire binding shaft (36) via a one-way bearing; the first bevel gear (374) is mounted on the wire binding shaft (36) and the first bevel gear (374) and the second gear (373) are fixed together; the second bevel gear (375) is coaxially connected to the feeding wheel (35); the first bevel gear (374) and the second bevel gear (375) are meshed; the first gear (372) and the second gear (373) are meshed; the cam (376) is mounted on and fixedly connected to the wire binding shaft (36); the cam (376) abuts against a toggle head provided on one side of the wire cutter (32).

9. A wire binding method, characterized in that: Using the wire binding tool according to any one of claims 1 to 7, the wire binding method comprises: The first step is to drive the arm of the live working robot with the wire binding tool to approach the main line (L1) as a whole, and the arm of the live working robot drives the fixed clamp (11) to move to the main line (L1) and enter the main line groove (110); confirm that the binding mechanism (300) is away from the lead groove (120); the rotating clamp driving component drives the rotating clamp (12) to rotate forward relative to the fixed clamp (11) so that the lead (L2) enters the lead groove (120); In the second step, the rotary clamping drive assembly drives the rotary clamping member (12) to continue to rotate forward relative to the fixed clamping member (11) to bring the main line (L1) and the lead line (L2) together; In the third step, the telescopic mechanism (200) drives the binding mechanism (300) to approach the main line (L1) and the lead line (L2); Step 4: The binding mechanism (300) binds the main line (L1) and the lead line (L2) and cuts off the binding wire (31) after the binding is completed; In the fifth step, the telescopic mechanism (200) drives the binding mechanism (300) to move away from the main line (L1) and the lead line (L2), and then the rotary clamping drive assembly drives the rotary clamping member (12) to reset.

10. The wire binding method according to claim 9, characterized in that: The binding mechanism (300) comprises a body (3) fixedly connected to the execution end of the telescopic mechanism (200), and a wire outlet assembly, a wire binding assembly, a wire cutting knife (32) and a binding mechanism driving assembly connected to the body (3); A left fork (311) and a right fork (312) are provided at one end of the machine body (3), and a wire groove (30) is formed between the left fork (311) and the right fork (312); a fixed knife holder (321) is provided on the left fork (311), a wire cutter (32) is hingedly connected to the fixed knife holder (321), a wire running channel is provided inside the fixed knife holder (321), an arc-shaped forming outlet (331) is provided at one end of the fixed knife holder (321) away from the machine body (3), a wire bending channel connected to the wire running channel is provided inside the forming outlet (331), a through hole (3120) is provided on the right fork (312), and the wire bending channel, the through hole (3120) and the wire groove (30) together form a wire winding space (310); The wire outlet assembly comprises a wire storage device (34) arranged on the machine body (3) and a feeding wheel (35) arranged between the wire storage device (34) and the forming outlet nozzle (331); The wire tying assembly comprises a wire tying shaft (36) and a wire tying claw (361) fixedly mounted on one end of the wire tying shaft (36), wherein the wire tying claw (361) is located inside the wire winding space (310); The blade of the wire cutter (32) faces the wire outlet of the wire bending channel, a toggle head is provided on one side of the wire cutter (32), and a return spring is provided between the wire cutter (32) and the fixed blade holder (321) or the left fork (311), the return spring causing the wire cutter (32) to always have a movement tendency of the blade away from the wire outlet of the wire bending channel; The lashing mechanism driving assembly comprises a lashing motor (371), a first gear (372), a second gear (373), a first bevel gear (374), a second bevel gear (375), a cam (376) and a one-way bearing; The binding motor (371) is fixed to the machine body (3); the first gear (372) is mounted on and fixed to the output shaft of the binding motor (371); the second gear (373) is mounted on and fixed to the wire binding shaft (36) via a one-way bearing; the first bevel gear (374) is mounted on the wire binding shaft (36) and the first bevel gear (374) and the second gear (373) are fixed together; the second bevel gear (375) is coaxially connected to the feeding wheel (35); the first bevel gear (374) and the second bevel gear (375) are meshed; the first gear (372) and the second gear (373) are meshed; the cam (376) is mounted on and fixedly connected to the wire binding shaft (36); the cam (376) abuts against a toggle head provided on one side of the wire cutter (32); The fourth step of the wire binding method comprises: Controlling the binding motor (371) to rotate in reverse, driving the first gear (372), the second gear (373), the first bevel gear (374), the second bevel gear (375), and the feeding wheel (35) to rotate in sequence, thereby feeding the binding wire (31) in the wire storage device (34) along the wire passage, out of the wire outlet of the wire bending passage, and winding it in the wire winding space (310) for at least one turn; Then, the binding motor (371) is controlled to rotate forward, and the first gear (372), the second gear (373), the one-way bearing, the wire binding shaft (36), and the cam (376) are driven to rotate in sequence, so that the wire binding claw (361) binds the binding wire loop in the wire winding space (310) and the wire cutter (32) cuts the binding wire (31) from the wire outlet of the wire bending channel.

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